Structured Light + Range Imaging Lecture #17 (Thanks to Content from Levoy, Rusinkiewicz, Bouguet, Perona, Hendrik Lensch)

3D Scanning

Stereo Triangulation IJ Correspondence is hard!

IJ Structured Light Triangulation Correspondence becomes easier!

Structured Light Any spatio-temporal pattern of light projected on a surface (or volume). Cleverly illuminate the scene to extract scene properties (eg., 3D). Avoids problems of 3D estimation in scenes with complex texture/BRDFs. Very popular in vision and successful in industrial applications (parts assembly, inspection, etc).

Light Stripe Scanning – Single Stripe Camera Source Surface Light plane Optical triangulation –Project a single stripe of laser light –Scan it across the surface of the object –This is a very precise version of structured light scanning –Good for high resolution 3D, but needs many images and takes time

Triangulation Project laser stripe onto object Object Laser CameraCamera Light Plane

CameraCamera Triangulation Depth from ray-plane triangulation: –Intersect camera ray with light plane Laser Object Light Plane Image Point

Example: Laser scanner Cyberware ® face and head scanner + very accurate < 0.01 mm − more than 10sec per scan

Digital Michelangelo Project Example: Laser scanner

3D Model Acquisition Pipeline 3D Scanner

3D Model Acquisition Pipeline 3D Scanner View Planning

3D Model Acquisition Pipeline 3D Scanner AlignmentAlignment View Planning

3D Model Acquisition Pipeline 3D Scanner AlignmentAlignment MergingMerging View Planning

3D Model Acquisition Pipeline 3D Scanner AlignmentAlignment MergingMergingDone?Done? View Planning

3D Model Acquisition Pipeline 3D Scanner AlignmentAlignment MergingMergingDone?Done? View Planning DisplayDisplay

Great Buddha of Nara

Scanning and Modeling the Cathedral of Saint Pierre, Beauvais, France

Portable 3D laser scanner (this one by Minolta)

Faster Acquisition? Project multiple stripes simultaneously Correspondence problem: which stripe is which? Common types of patterns: Binary coded light striping Gray/color coded light striping

Binary Coding Pattern 1 Pattern 2 Pattern 3 Projected over time Example: 3 binary-encoded patterns which allows the measuring surface to be divided in 8 sub- regions Faster: stripes in images.

Binary Coding Assign each stripe a unique illumination code over time [Posdamer 82] Space Time

Binary Coding Pattern 1 Pattern 2 Pattern 3 Projected over time Example: 7 binary patterns proposed by Posdamer & Altschuler … Codeword of this píxel:  identifies the corresponding pattern stripe

More complex patterns Zhang et al Works despite complex appearances Works in real-time and on dynamic scenes Need very few images (one or two). But needs a more complex correspondence algorithm

Real-Time 3D Model Acquisition

Captured video (30Hz)Captured video (3000Hz) Reconstruction (30Hz)Reconstruction (120Hz)Reconstruction – different view (120Hz)

Captured video (30Hz)Captured video (3000Hz) Reconstruction (30Hz)Reconstruction (120Hz)Reconstruction – different view (120Hz)

Continuum of Triangulation Methods Slow, robust Fast, fragile Multi-stripeMulti-frame Single-frame Single-stripe

Microsoft Kinect IR Camera RGB Camera IR LED Emitter

Microsoft Kinect Speckled IR Pattern Depth map

3D Acquisition from Shadows Bouguet-Perona, ICCV 98

Fluorescent Immersion Range Scanning

Fluorescent Immersion Range Scanning

Structured Light Reconstruction Avoid problems due to correspondence Avoid problems due to surface appearance Much more accurate Very popular in industrial settings Reading: –Marc Levoy’s webpages (Stanford) –Katsu Ikeuchi’s webpages (U Tokyo) –Peter Allen’s webpages (Columbia)